printable keyboard shortcuts
is https://wiki.blender.org/uploads/1/14/Keyboardlayout_250.png no good printed in greyscale / low quality?

Alternatively tufts has a nicely compiled (but incomplete) list of shortcuts per area:   http://ocw.tufts.edu/data/71/1717950.pdf
The tufts shortcuts might be handier as it doesn't try to cram all info onto a few keys which change depending on mode anyway. Unfortunately it doesn't list some of the more useful key combos ( vertex-slide Shift + V)